可基本执行任务

agv_app/running.js

@@ -10,11 +10,22 @@ createApp({
       progress: 0,
       tasks: [],
       report: null,
-      previewUrl: API + '/api/camera/preview',
+      agvPreviewUrl: API + '/api/camera/preview',
+      armPreviewUrl: API + '/api/camera/arm_refresh',
       polling: null,
       logs: [],
       showQrModal: false,
       qrValue: '',
+      // 错误弹窗 / 单步执行
+      waitingError: false,
+      errorMsg: '',
+      waitingStep: false,
+      stepLabel: '',
+      // 任务步骤控制开关（机械臂初始化并入AGV移动）
+      agvMoveEnabled: true,
+      qrScanEnabled: true,
+      frontPhotoEnabled: true,
+      backPhotoEnabled: true,
     }
   },
   computed: {
@@ -24,7 +35,9 @@ createApp({
         running: '任务运行中',
         paused: '已暂停',
         completed: '已完成',
-        waiting_qr: '等待输入二维码'
+        waiting_qr: '等待输入二维码',
+        waiting_error: '⚠️ 执行错误',
+        waiting_step: '🦶 等待步骤确认',
       }
       return map[this.missionState] || '未知'
     },
@@ -52,6 +65,22 @@ createApp({
         this.progress = data.progress || 0
         if (data.tasks) this.tasks = data.tasks
 
+        // 错误弹窗
+        if (data.waiting_error) {
+          this.waitingError = true
+          this.errorMsg = data.error_msg || '任务执行出错'
+        } else {
+          this.waitingError = false
+        }
+
+        // 步骤确认弹窗
+        if (data.waiting_step) {
+          this.waitingStep = true
+          this.stepLabel = data.step_label || ''
+        } else {
+          this.waitingStep = false
+        }
+
         // QR 弹窗
         if (this.missionState === 'waiting_qr' && !this.showQrModal) {
           this.showQrModal = true
@@ -67,7 +96,7 @@ createApp({
       } catch (e) {}
     },
     async pollLogs() {
-      if (this.missionState !== 'running' && this.missionState !== 'waiting_qr') return
+      if (this.missionState !== 'running' && this.missionState !== 'waiting_qr' && this.missionState !== 'waiting_error' && this.missionState !== 'waiting_step') return
       try {
         const res = await fetch(API + '/api/mission/log')
         const data = await res.json()
@@ -87,9 +116,52 @@ createApp({
       this.progress = 0
       this.report = null
       this.showQrModal = false
-      await fetch(API + '/api/mission/start', { method: 'POST' })
+      await fetch(API + '/api/mission/start', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({
+          agv_move: this.agvMoveEnabled,
+          qr_scan: this.qrScanEnabled,
+          front_photo: this.frontPhotoEnabled,
+          back_photo: this.backPhotoEnabled,
+        })
+      })
       this.missionState = 'running'
     },
+    async startSingleStep() {
+      if (this.missionState !== 'idle') return
+      this.logs = []
+      this.progress = 0
+      this.report = null
+      this.showQrModal = false
+      await fetch(API + '/api/mission/start', {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({ single_step: true })
+      })
+      if (this.polling) clearInterval(this.polling)
+      this.poll()
+    },
+    async skipError() {
+      await fetch(API + '/api/mission/error-skip', { method: 'POST' })
+      this.waitingError = false
+    },
+    async abortError() {
+      await fetch(API + '/api/mission/error-abort', { method: 'POST' })
+      this.waitingError = false
+    },
+    async confirmStep() {
+      await fetch(API + '/api/mission/singlestep/confirm', { method: 'POST' })
+      this.waitingStep = false
+    },
+    async retryStep() {
+      await fetch(API + '/api/mission/singlestep/retry', { method: 'POST' })
+      this.waitingStep = false
+    },
+    async abortStep() {
+      await fetch(API + '/api/mission/singlestep/abort', { method: 'POST' })
+      this.waitingStep = false
+    },
     async pauseMission() {
       await fetch(API + '/api/mission/pause', { method: 'POST' })
       this.missionState = 'paused'
@@ -103,6 +175,8 @@ createApp({
       await fetch(API + '/api/mission/stop', { method: 'POST' })
       this.missionState = 'idle'
       this.showQrModal = false
+      this.waitingError = false
+      this.waitingStep = false
     },
     async submitQr() {
       const val = this.qrValue.trim()
@@ -123,7 +197,10 @@ createApp({
         body: JSON.stringify({ qr: 'SKIP' })
       })
     },
-    onPreviewError(e) {
+    onAgvPreviewError(e) {
+      e.target.style.display = 'none'
+    },
+    onArmPreviewError(e) {
       e.target.style.display = 'none'
     }
   }